Autonomous vehicle speed control device

ABSTRACT

An autonomous vehicle is provided with a touch panel that enables an operator to input vehicle speed control instructions during an automatic driving mode and a mechanical operation unit for inputting driving control instructions. When the driving mode of the autonomous vehicle is the automatic driving mode or a semi-automatic driving mode, a driving control unit of the autonomous vehicle prioritizes a vehicle speed control instruction input from the touch panel over a vehicle speed control instruction input from the mechanical operation unit and executes vehicle speed control for the autonomous vehicle based on the prioritized instruction.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No.2019-121400 filed on Jun. 28, 2019, which is incorporated herein byreference in its entirety including the specification, claims, drawings,and abstract.

TECHNICAL FIELD

The present description discloses an autonomous vehicle speed controldevice.

BACKGROUND

Autonomous vehicles capable of performing automatic driving areconventionally known. Automatic driving means that a computer executesat least a part of various driving controls including vehicle speedcontrol and steering control. Generally, autonomous vehicles areoperable in a plurality of driving modes, which include an automaticdriving mode for performing automatic driving and a manual driving modefor enabling an operator in the autonomous vehicle to perform drivingcontrol.

It is conventionally known that, even in the automatic driving mode, anoperator in an autonomous vehicle may want to control the vehicle speedof the autonomous vehicle, and there has been a case of providing amechanical operation unit in an autonomous vehicle for enabling theoperator to perform vehicle speed control in the automatic driving mode.The mechanical operation unit is not a foot-operated pedal such as anaccelerator pedal or a brake pedal provided in conventional automotivevehicles, and is provided higher than a seat surface of an operator'sseat to enable the operator to operate the unit by hand.

For example, JP 2018-136714 A discloses an autonomous vehicle capable ofperforming autonomous driving, in which a mechanical operation unit (ajoystick) is provided for enabling manual operation by an operator toperform vehicle speed control in the automatic driving mode.

Incidentally, it is conceivable that the operator may use a touch panelto perform vehicle speed control for the autonomous vehicle in theautomatic driving mode. For example, the touch panel displays a vehiclespeed control button so that the operator can operate this button torealize the vehicle speed control. Since the burden on the operator canbe reduced during the automatic driving mode, it becomes easy for theoperator to visually recognize information displayed on the touch panel.Therefore, performing the vehicle speed control using the touch panelmakes it easy to grasp the information (for example, vehicleinformation, environmental information, and message from outside thevehicle) displayed on the touch panel.

On the other hand, the operator may manually drive the autonomousvehicle in a mode other than the automatic driving mode (for example,during the manual driving mode). When the operator performs manualdriving, operation using the mechanical operation unit is considered tobe desirable rather than operation using the touch panel, because notonly the vehicle speed control but also various operations including ahandling control are required. Accordingly, it is considered desirablefor the autonomous vehicle to be provided with the mechanical operationunit in addition to the touch panel.

As described above, when the autonomous vehicle is equipped with thetouch panel for performing vehicle speed control in the automaticdriving mode and the mechanical operation unit for performing drivingcontrol, if the mode currently selected is the automatic driving mode,it is assumed that the operator intends to perform vehicle speed controloperations using the touch panel. In such a situation, if the operatorunintentionally operates the mechanical operation unit while operatingthe touch panel, or if another occupant operates the mechanicaloperation unit while the operator is operating the touch panel, speedcontrols not intended by the operator may be performed.

An autonomous vehicle speed control device disclosed in the presentdescription is applicable to an autonomous vehicle that is equipped witha touch panel for performing vehicle speed control operations in theautomatic driving mode and is further equipped with a mechanicaloperation unit for performing vehicle speed control operations, andintends to suppress performance of vehicle speed controls not intendedby an operator in the automatic driving mode.

SUMMARY

The autonomous vehicle speed control device disclosed in the presentdescription is an autonomous vehicle speed control device provided in anautonomous vehicle capable of driving in a plurality of modes includingan automatic driving mode for performing automatic driving, including

a touch panel on which a vehicle speed control button for inputting avehicle speed control instruction to the autonomous vehicle isdisplayed,

a mechanical operation unit provided higher than a seat surface of aseat of the autonomous vehicle and configured to input a vehicle speedcontrol instruction to the autonomous vehicle by manual operation, and

a vehicle speed control unit configured to control the vehicle speed ofthe autonomous vehicle by prioritizing the vehicle speed controlinstruction input from the touch panel over the vehicle speed controlinstruction input from the mechanical operation unit, in the automaticdriving mode.

According to the above-mentioned configuration, in the case of operationin the automatic driving mode, when an operator performs the vehiclespeed control using the touch panel, the vehicle speed controlinstruction input from the touch panel is prioritized over the vehiclespeed control instruction input from the mechanical operation unit evenwhen the mechanical operation unit is operated. Therefore, performanceof a vehicle speed control not intended by the operator can besuppressed.

A mechanical emergency-stop operation unit for inputting a stopinstruction to the autonomous vehicle may be further provided, and thevehicle speed control unit may cause the autonomous vehicle to stop byprioritizing the stop instruction input from the emergency stopoperation unit over the vehicle speed control instructions input fromthe touch panel and the mechanical operation unit.

In the automatic driving mode, the vehicle speed control unit mayprioritize a deceleration control instruction input from the touch panelover the vehicle speed control instruction input from the mechanicaloperation unit and cause the autonomous vehicle to decelerate.

The mechanical operation unit may be storable in a storage part coveredwith a lid. In the automatic driving mode, it is desirable that thevehicle speed control unit invalidates the vehicle speed controlinstruction from the mechanical operation unit.

It may be the case that a foot-operated pedal for inputting a vehiclespeed control instruction to the autonomous vehicle is not provided.

According to the autonomous vehicle speed control device described inthe present description, the autonomous vehicle is equipped with thetouch panel for performing vehicle speed control operations in theautomatic driving mode and is further equipped with the mechanicaloperation unit for performing vehicle speed control operations, and cansuppress performance of vehicle speed controls not intended by anoperator in the automatic driving mode.

BRIEF DESCRIPTION OF DRAWINGS

Embodiment(s) of the present disclosure will be described based on thefollowing figures, wherein:

FIG. 1 is an external view illustrating an autonomous vehicle accordingto the present embodiment;

FIG. 2 is a first perspective diagram illustrating the interior of apassenger compartment of the autonomous vehicle according to the presentembodiment;

FIG. 3 is a second perspective diagram illustrating the interior of thepassenger compartment of the autonomous vehicle according to the presentembodiment;

FIG. 4 is a diagram illustrating an exemplary screen of a touch panel tobe displayed when the vehicle is stopped;

FIG. 5 is a diagram illustrating an exemplary screen of the touch panelto be displayed at the time of automatic traveling;

FIG. 6 is a perspective diagram illustrating a mechanical operationunit; and

FIG. 7 is a functional block diagram illustrating a driving controldevice according to the present embodiment.

DESCRIPTION OF EMBODIMENTS

FIG. 1 is an external view illustrating an autonomous vehicle 10according to the present embodiment. In each drawing of the presentdescription, the terms “front (FR)” and “rear” indicate front and rearin the longitudinal direction of the vehicle, and the terms “left (LH)”and “right” indicate left and right when facing forward, and “up (UP)”and “down” indicate up and down in the vertical direction of thevehicle.

The autonomous vehicle 10 is a substantially rectangular parallelepipedand has a shape symmetrical in the front-rear direction, and anappearance design thereof is symmetrical in the longitudinal direction.A pillar 12 extending in the vertical direction is provided at each offour corners in a plan view, and a wheel 14 is provided below eachpillar 12. Most of front, rear, left, and right side walls of theautonomous vehicle 10 are semitransparent panels 16. Each panel 16 maybe configured as a display panel, on which characters or the like can bedisplayed.

A part of the left side panel is constituted as a slidable door 18, sothat an occupant can get on and off by sliding and opening the door 18.Although not illustrated in FIG. 1, retractable ramp equipmentconfigured to be taken out and in is stored below the door 18. The rampequipment can be used for loading and unloading a wheelchair or thelike.

Further, the autonomous vehicle 10 is a vehicle capable of performingautonomous driving. Specifically, the autonomous vehicle 10 isconfigured to perform driving in a plurality of driving modes includingan automatic driving mode, a semi-automatic driving mode, and a manualdriving mode.

The automatic driving mode is a driving mode in which a computer(serving as a driving control unit (described below)) mounted on theautonomous vehicle 10 performs most of driving control. In the presentdescription, the driving control is a concept including shift changecontrol, vehicle speed control, and steering control. Further, thevehicle speed control is also a concept including start control, stopcontrol, and acceleration/deceleration control for the autonomousvehicle 10. The autonomous vehicle 10 is configured to be able tocommunicate with a management center that manages and controls aplurality of autonomous vehicles 10. In the automatic driving mode, theautonomous vehicle 10 travels along a predetermined route under thecontrol of the management center. In the automatic driving mode, thecomputer performs the driving control according to driving instructionsfrom the management center. However, the start control performed in astop state requires an operation by an operator in the autonomousvehicle 10.

The semi-automatic driving mode is a driving mode similar to theautomatic driving mode in that the computer mounted on the autonomousvehicle 10 performs most of the driving control for the autonomousvehicle 10. In the semi-automatic driving mode, without depending oninstructions from the management center, the computer performs drivingcontrol based on detection results obtained by various sensors (forexample, a camera or a lidar) provided on the autonomous vehicle 10, andtravels along a predetermined route. However, even in the semi-automaticdriving mode, the start control performed in a stop state requires anoperation by an operator in the autonomous vehicle 10.

The manual driving mode is a mode in which the autonomous vehicle 10does not perform autonomous driving and an operator in the autonomousvehicle 10 performs driving control for the autonomous vehicle 10.

The autonomous vehicle 10 is a shared vehicle for riding by anunspecified large number of occupants. In the present embodiment, theautonomous vehicle 10 is used as a bus that carries passengers whiletraveling along a predetermined route in a specific site. Accordingly,the autonomous vehicle 10 is supposed to repeat stopping and startingrelatively frequently. Further, the autonomous vehicle 10 is supposed totravel relatively slowly (e.g., at 30 km/h or less).

However, the usage form of the autonomous vehicle 10 disclosed in thepresent description is appropriately changeable. For example, theautonomous vehicle 10 may be used as a movable business space, or as ashop such as a retail shop that displays and sells various commoditiesor as a restaurant that cooks and provides food and drink. Further, asanother form, the autonomous vehicle 10 may be used as an office forvarious types of office work, meeting with customers, and the like.Further, the use scene of the autonomous vehicle 10 is not limited tobusiness use. For example, the autonomous vehicle 10 may be used aspersonal transportation means. Further, the traveling pattern or thetraveling speed of the autonomous vehicle 10 may be changedappropriately.

The autonomous vehicle 10 is an electric vehicle having, as a primemover, a driving motor that receives power supply from batteries. Eachbattery is a secondary battery configured to be chargeable anddischargeable, and is periodically charged by an external power source.The autonomous vehicle 10 is not limited to the electric vehicle and maybe another type of vehicle. For example, the autonomous vehicle 10 maybe a vehicle equipped with an engine (e.g., an internal combustionengine) serving as a prime mover, or may be a hybrid vehicle equippedwith both an engine and a driving motor each serving as a prime mover.Further, the autonomous vehicle 10 may be a hydrogen fueled vehicle thatdrives a driving motor with electric power generated by fuel cells.

FIGS. 2 and 3 are perspective diagrams illustrating the interior of apassenger compartment of the autonomous vehicle 10. As mentioned above,since the autonomous vehicle 10 is used as a bus, the passengercompartment includes a central part configured as a floor 20 availablefor standing occupants or wheelchaired occupants. Further, occupantseats 22 are provided along sidewalls in the passenger compartment.

The autonomous vehicle 10 includes an operator seat 24 provided for anoperator who controls driving of the autonomous vehicle 10 and operateseach device (such as an air conditioner or windshield wipers) providedin the autonomous vehicle 10. FIG. 2 illustrates a state where a seatbody 24 a of the operator seat 24 is reclined so that a seat surface 24b appears. The seat body 24 a is configured to be flipped up. In thepresent embodiment, the operator seat 24 is provided on the left side inthe passenger compartment and adjacent to the front side of the door 18,although the operator seat 24 may be provided on the right side in thepassenger compartment.

An armrest 26 extending in the front-rear direction to enable anoperator sitting on the operator seat 24 to place his/her arm isprovided on the front side of the operator seat 24. As mentioned above,in the present embodiment, since the operator seat 24 is provided on theleft side in the passenger compartment, the armrest 26 is disposed atthe left end in the passenger compartment. If the operator seat 24 isprovided on the right side in the passenger compartment, the armrest 26is disposed at the right end in the passenger compartment. The armrest26 is provided higher than the seat surface 24 b of the operator seat 24in a reclined state.

A touch panel 28 standing upright from an upper surface of the armrest26 is provided at a front end of the armrest 26 (see FIG. 3). The touchpanel 28 faces the rear side (that is, the operator seat 24 side).Accordingly, the operator can manually operate the touch panel 28 whilesitting on the operator seat 24 and placing his/her arm on the armrest26. The touch panel 28 enables the operator to input a vehicle speedcontrol instruction in the automatic driving mode and input a devicecontrol instruction to each device (blinkers, a horn, headlights, theair conditioner, the windshield wipers, and the like) provided in theautonomous vehicle 10. A display screen of the touch panel 28 will bedescribed in detail below.

Further, a storage compartment 30 such as a console box, which can storea mechanical operation unit for inputting a driving control instructionto the autonomous vehicle 10, is provided in the armrest 26. The storagecompartment 30 is covered with a lid 32. That is, when stored in thestorage compartment 30 the mechanical operation unit is not exposed tothe interior of the passenger compartment. In the present embodiment,the upper surface of the armrest 26 and the lid 32 are disposed on thesame plane. In the present embodiment, although the storage compartment30 is provided in the armrest 26, the storage compartment 30 may beprovided in a place other than the armrest 26. Even in such a case, itis desirable that the storage compartment 30 is provided in aninconspicuous place, for example, at one of front, rear, left, and rightends in the interior of the passenger compartment. The storagecompartment 30, the lid 32, and the mechanical operation unit will bedescribed in detail below.

Further, a mechanical emergency-stop operation unit 34 for inputting an(emergency) stop instruction to the autonomous vehicle 10 is provided onthe upper surface of the armrest 26. In the present embodiment, theemergency-stop operation unit 34 is a button.

The autonomous vehicle 10 is provided with the touch panel 28, themechanical operation unit, and the emergency-stop operation unit 34, asonly three operation devices for inputting vehicle speed controlinstructions to the autonomous vehicle 10. That is, the autonomousvehicle 10 is not provided with a foot-operated pedal for inputting avehicle speed control instruction, such as an accelerator pedal or abrake pedal provided in conventional automotive vehicles or the like.

A display device 36 that displays information relating to the autonomousvehicle 10 is provided at a front left corner in the passengercompartment (see FIG. 3). The information displayed on the displaydevice 36 includes, for example, vehicle speed of the autonomous vehicle10, ambient temperature, and the next stop. Like the touch panel 28, thedisplay device 36 faces the rear side so that the touch panel 28 and thedisplay device 36 are disposed side by side when seen by the operatorsitting on the operator seat 24. Thus, suitably, the operator canvisually recognize both the touch panel 28 and the display device 36.The display device 36 and the touch panel 28 may be positioned at thesame height. Specifically, the touch panel 28 and the display device 36are disposed in such a manner that the upper edge of the display device36 and the upper edge of the touch panel 28 are at the same height, thelower edge of the display device 36 and the lower edge of the touchpanel 28 are at the same height, or the altitudinal center of thedisplay device 36 and the altitudinal center of the touch panel 28 areat the same height.

FIGS. 4 and 5 illustrate exemplary screens to be displayed on the touchpanel 28. FIG. 4 illustrates an exemplary screen displayed when theautonomous vehicle 10 is in the automatic driving mode and is stopped.FIG. 5 is an exemplary screen displayed when the autonomous vehicle 10is in the automatic driving mode and is traveling.

First, with reference to FIG. 4, when the autonomous vehicle 10 is inthe automatic driving mode and is stopped, a GO button 40 serving as avehicle speed control button for inputting a vehicle speed controlinstruction to the autonomous vehicle 10 is displayed on the touch panel28. The GO button 40 is a button for inputting a start instruction tothe autonomous vehicle 10. When the GO button 40 is operated, theautonomous vehicle 10 starts traveling (in the automatic driving mode,in this case).

Next, with reference to FIG. 5, when the autonomous vehicle 10 is in theautomatic driving mode and is traveling, a SLOWDOWN button 42 serving asa vehicle speed control button is displayed on the touch panel 28,instead of the GO button 40. The SLOWDOWN button 42 is a button forinputting a deceleration control instruction to the autonomous vehicle10. When the SLOWDOWN button 42 is operated, the autonomous vehicle 10decelerates. The SLOWDOWN button 42 may be repetitively operated tocause the autonomous vehicle 10 to stop as intended.

In the present embodiment, when the vehicle is traveling in theautomatic driving mode, the vehicle speed control that the operator caninput is only the deceleration control instruction. However, in additionto the SLOWDOWN button 42, a button for inputting an accelerationcontrol instruction or a button for inputting a stop instruction may bedisplayed so that the operator can input the acceleration controlinstruction or the stop instruction. Needless to say, in the automaticdriving mode, the autonomous vehicle 10 can automatically decelerate orstop according to instructions from the management center. When theautonomous vehicle 10 is stopped, the GO button 40 is displayed again,instead of the SLOWDOWN button 42, as illustrated in FIG. 4.

Buttons displayed on the touch panel 28 include, in addition to thevehicle speed control button, driving mode buttons 44 for inputtingdriving mode change instructions, shift buttons 46 for inputting shiftchange control instructions, a P brake button 48 for inputting amotor-driven parking brake activation/release instruction, and variousdevice control buttons for inputting device control instructions todevices provided in the autonomous vehicle 10. According to the examplesillustrated in FIGS. 4 and 5, blinker buttons 50 for controllingblinkers, a hazard button 52 for activating a hazard warning system, ahorn button 54 for operating the horn, light buttons 56 for controllingheadlights and taillights, an air conditioner tab 58 for controlling theair conditioner, and a windshield wiper tab 60 for controlling thewindshield wipers are displayed as the device control buttons. When theair conditioner tab 58 is touched, various buttons for controlling theair conditioner are displayed. When the windshield wiper tab 60 istouched, various buttons for controlling the windshield wipers aredisplayed. The driving mode buttons 44 are operable only when theautonomous vehicle 10 is stopped. Further, in the present embodiment,the shift buttons 46 are not operable in the automatic driving mode,because shift change by an operator's operation is restricted.

Further, other information displayed on the touch panel 28 includesremaining battery level of the autonomous vehicle 10, opened/closedstate of the door 18, state of the ramp equipment, and detection statesof various sensors provided in the autonomous vehicle 10.

FIG. 6 illustrates a mechanical operation unit 70 pulled out of thestorage compartment 30. The mechanical operation unit 70 has a stickshape and keeps an upright posture when stored in the storagecompartment 30 so as to be raised in the vertical direction. Storing themechanical operation unit 70 in the storage compartment 30 can preventthe operator from erroneously operating the mechanical operation unit 70or prevent another occupant from operating the mechanical operation unit70. The lid 32 may be configured to be locked so that occupants otherthan the operator cannot open the lid 32. Further, the space in thevehicle can be effectively used when the mechanical operation unit 70 isstored in the storage compartment 30.

When the operator opens the lid 32 and pulls out the mechanicaloperation unit 70 upward, the mechanical operation unit 70 becomesoperable as illustrated in FIG. 6. Alternatively, a switch may beprovided in the storage compartment 30, so that the mechanical operationunit 70 automatically moves upward from the storage compartment 30 whenthe switch is operated. In the operable state, the mechanical operationunit 70 is in a state where it stands upright from the upper surface ofthe armrest 26. The mechanical operation unit 70 is provided higher thanthe seat surfaces of the seats in the autonomous vehicle 10. Inparticular, as described above, since the armrest 26 is provided higherthan the seat surface 24 b of the operator seat 24 in the reclinedstate, it is obvious that the mechanical operation unit 70 is positionedhigher than the seat surface 24 b in the reclined state.

The mechanical operation unit 70 is mainly pulled out of the storagecompartment 30 when the driving mode of the autonomous vehicle 10 is themanual driving mode. When the driving mode of the autonomous vehicle 10is the automatic driving mode or the semi-automatic driving mode, it isdesirable that the mechanical operation unit 70 is stored in the storagecompartment 30 so as to prevent erroneous operation of the mechanicaloperation unit 70.

The mechanical operation unit 70 is operable by hand. The mechanicaloperation unit 70 is a lever type that is manually operable. That is,the mechanical operation unit 70 is configured to be tiltable in thefront, rear, left, and right directions with a lower edge thereof as afulcrum. When the mechanical operation unit 70 is tilted forward, anacceleration control instruction can be input to the autonomous vehicle10. When the mechanical operation unit 70 is tilted rearward, adeceleration control instruction can be input to the autonomous vehicle10. Further, when the mechanical operation unit 70 is tilted leftward, aleft-turn control instruction can be input to the autonomous vehicle 10.When the mechanical operation unit 70 is tilted rightward, a right-turncontrol instruction can be input to the autonomous vehicle 10.

Further, mechanical device control switches for inputting device controlinstructions to the devices provided in the autonomous vehicle 10 areprovided at an upper part of the mechanical operation unit 70. In thepresent embodiment, switches for controlling the notification to theoutside of the vehicle are provided as the device control switches.Specifically, blinker switches 72 for operating the blinkers and a hornswitch 74 for activating the horn are provided. As described above, themechanical operation unit 70 can be used not only when instructing theacceleration/deceleration control and the turning control but also whenoperating the blinkers and the horn. Needless to say, the device controlswitches on the mechanical operation unit 70 may include additionalswitches for controlling other devices.

In the present embodiment, the touch panel 28 is disposed at the frontend of the armrest 26 and the mechanical operation unit 70 standsupright on the armrest 26. That is, the touch panel 28 and themechanical operation unit 70 are disposed adjacently. In the presentembodiment, even when the driving control is performed using themechanical operation unit 70, the touch panel 28 is usable to operatethe devices provided in the autonomous vehicle 10. Accordingly, sincethe touch panel 28 and the mechanical operation unit 70 are adjacent toeach other, the operator can suitably operate both the touch panel 28and the mechanical operation unit 70.

FIG. 7 is a functional block diagram illustrating a driving controldevice 80 provided on the autonomous vehicle 10. The driving controldevice 80 includes the touch panel 28, the emergency-stop operation unit34, and the mechanical operation unit 70, which are described above, andis configured to further include a driving mode selection unit 82 and adriving control unit 84. The driving mode selection unit 82 and thedriving control unit 84 can be realized by cooperation of hardware suchas a processor and software that causes the hardware to operate.

The driving mode selection unit 82 selects, as the driving mode of theautonomous vehicle 10, any one of the automatic driving mode, thesemi-automatic driving mode, and the manual driving mode. Specifically,the driving mode selection unit 82 selects the driving mode of theautonomous vehicle 10 based on the driving mode change instruction thathas been input to the touch panel 28 by the operator. The driving modeselected by the driving mode selection unit 82 is notified to thedriving control unit 84.

The driving control unit 84 performs driving control for the autonomousvehicle 10 based on an instruction input from the touch panel 28, theemergency-stop operation unit 34, or the mechanical operation unit 70.

Specifically, upon receiving the start instruction from the touch panel28 when the GO button 40 (see FIG. 4) of the touch panel 28 is touched,the driving control unit 84 releases the motor-driven parking brake andcontrols the prime mover to cause the autonomous vehicle 10 to starttraveling. Further, upon receiving the deceleration control instructionfrom the touch panel 28 when the SLOWDOWN button 42 (see FIG. 5) of thetouch panel 28 is touched, the driving control unit 84 controls theprime mover and the brake to cause the autonomous vehicle 10 todecelerate.

When the mechanical operation unit 70 is tilted forward, the drivingcontrol unit 84 controls the prime mover to accelerate the autonomousvehicle 10 upon receiving the acceleration control instruction from themechanical operation unit 70. Further, when the mechanical operationunit 70 is tilted rearward, the driving control unit 84 controls theprime mover or the brake to cause the autonomous vehicle 10 todecelerate upon receiving the deceleration control instruction from themechanical operation unit 70. Further, when the mechanical operationunit 70 is tilted leftward, the driving control unit 84 controls thedirections of the wheels 14 of the autonomous vehicle 10 to cause theautonomous vehicle 10 to turn left upon receiving the left-turn controlinstruction from the mechanical operation unit 70. When the mechanicaloperation unit 70 is tilted rightward, the driving control unit 84controls the directions of the wheels 14 of the autonomous vehicle 10 tocause the autonomous vehicle 10 to turn right upon receiving theright-turn control instruction from the mechanical operation unit 70.

Further, when the emergency-stop operation unit 34 is operated, thedriving control unit 84 controls the prime mover and the brake to causethe autonomous vehicle 10 to stop immediately upon receiving the stopinstruction from the emergency-stop operation unit 34.

In the case of operation in the automatic driving mode, the drivingcontrol unit 84 performs driving control for the autonomous vehicle 10based on driving instructions received from the management center.Further, in the case of operation in the semi-automatic driving mode,the driving control unit 84 performs driving control for the autonomousvehicle 10 based on detection results by various sensors of theautonomous vehicle 10.

As mentioned above, the driving control unit 84 executes the drivingcontrol including the vehicle speed control for the autonomous vehicle10. Accordingly, the driving control unit 84 functions as a vehiclespeed control unit, and the driving control device 80 functions as avehicle speed control device.

Irrespective of the driving mode of the autonomous vehicle 10, thedriving control unit 84 can perform driving control for the autonomousvehicle 10 based on driving control instructions from the touch panel 28and the mechanical operation unit 70. However, when the driving mode ofthe autonomous vehicle 10 is either the automatic driving mode or thesemi-automatic driving mode, the driving control unit 84 prioritizes avehicle speed control instruction input from the touch panel 28 over avehicle speed control instruction input from the mechanical operationunit 70 and executes the vehicle speed control for the autonomousvehicle 10 based on the prioritized instruction.

For example, prioritizing the vehicle speed control instruction inputfrom the touch panel 28 in the automatic driving mode or thesemi-automatic driving mode invalidates the vehicle speed controlinstruction input from the mechanical operation unit 70, after thevehicle speed control instruction is input by the touch panel 28, untilthe driving control unit 84 completes the vehicle speed control.Specifically, when the SLOWDOWN button 42 of the touch panel 28 istouched, the driving control unit 84 ignores the acceleration controlinstruction from the mechanical operation unit 70 and causes theautonomous vehicle 10 to decelerate, until the driving control unit 84completes the deceleration control, even when the mechanical operationunit 70 is tilted forward.

Alternatively, in the case of operation in the automatic driving mode orthe semi-automatic driving mode, the vehicle speed control instructionfrom the touch panel 28 may be prioritized by not receiving any vehiclespeed control instruction from the mechanical operation unit 70. In thiscase, in the automatic driving mode or the semi-automatic driving mode,any vehicle speed control instruction from the mechanical operation unit70 is invalidated, regardless of whether the operator is operating thetouch panel 28.

In the case of operation in the automatic driving mode, the drivingcontrol unit 84 performs driving control for the autonomous vehicle 10based on driving instructions from the management center. However, thevehicle speed control instructions from the touch panel 28 and themechanical operation unit 70 are prioritized over the vehicle speedcontrol instructions from the management center. Further, in the case ofoperation in the semi-automatic driving mode, the driving control unit84 performs driving control for the autonomous vehicle 10 based ondetection results by various sensors of the autonomous vehicle 10.However, the vehicle speed control instructions from the touch panel 28and the mechanical operation unit 70 are prioritized over the vehiclespeed control instructions based on detection results of varioussensors.

As described above, in the present embodiment, the vehicle speed controlinstructions input from the touch panel 28 are prioritized over thevehicle speed control instructions input from the mechanical operationunit 70 in the automatic driving mode. Therefore, even when themechanical operation unit 70 is unwantedly operated by the operator oranother occupant while the operator is performing vehicle speed controlusing the touch panel 28, performance of any vehicle speed control notintended by the operator can be suppressed. Further, prioritizing thevehicle speed control instructions from the touch panel 28 impels theoperator to mainly operate the touch panel 28, in the case of operationin the automatic driving mode. Therefore, the operator can easily graspinformation displayed on the touch panel (for example, vehicleinformation, environmental information, and external messages).

When the driving mode of the autonomous vehicle 10 is the manual drivingmode, the driving control unit 84 may prioritize the vehicle speedcontrol instructions input from the mechanical operation unit 70 overthe vehicle speed control instructions input from the touch panel 28 andexecute the vehicle speed control for the autonomous vehicle 10 based onthe prioritized instructions. For example, in the manual driving mode,after the mechanical operation unit 70 inputs a vehicle speed controlinstruction, until the driving control unit 84 completes the vehiclespeed control, any vehicle speed control instruction input from thetouch panel 28 may be invalidated.

In addition, irrespective of the driving mode of the autonomous vehicle10, the driving control unit 84 prioritizes the stop instruction inputfrom the emergency-stop operation unit 34 over the vehicle speed controlinstructions input from the touch panel 28 and the mechanical operationunit 70 and causes the autonomous vehicle 10 to stop immediately.Needless to say, the stop instruction input from the emergency-stopoperation unit 34 is prioritized over the vehicle speed controlinstructions from the management center and the vehicle speed controlinstruction based on detection results by various sensors of theautonomous vehicle 10. That is, regardless of the driving mode of theautonomous vehicle 10, and regardless of how the touch panel 28 or themechanical operation unit 70 is operated, the autonomous vehicle 10immediately stops when the emergency-stop operation unit 34 is operated.Thus, the operator can stop the autonomous vehicle 10 at any time in anemergency.

Although the embodiments of the autonomous vehicle speed control deviceaccording to the present disclosure have been described, the autonomousvehicle speed control device according to the present disclosure is notlimited to the above-mentioned embodiments and can be changed ormodified in various ways without departing from the gist thereof.

1. An autonomous vehicle speed control device provided in an autonomous vehicle capable of driving in a plurality of modes including an automatic driving mode for performing automatic driving, comprising: a touch panel on which a vehicle speed control button for inputting a vehicle speed control instruction to the autonomous vehicle is displayed; a mechanical operation unit provided higher than a seat surface of a seat of the autonomous vehicle and configured to input a vehicle speed control instruction to the autonomous vehicle by manual operation; and a vehicle speed control unit configured to control the vehicle speed of the autonomous vehicle by prioritizing the vehicle speed control instruction input from the touch panel over the vehicle speed control instruction input from the mechanical operation unit, in the automatic driving mode.
 2. The autonomous vehicle speed control device according to claim 1, further comprising: a mechanical emergency-stop operation unit for inputting a stop instruction to the autonomous vehicle, wherein the vehicle speed control unit causes the autonomous vehicle to stop by prioritizing the stop instruction input from the emergency-stop operation unit over the vehicle speed control instructions input from the touch panel and the mechanical operation unit.
 3. The autonomous vehicle speed control device according to claim 1, wherein in the automatic driving mode, the vehicle speed control unit prioritizes a deceleration control instruction input from the touch panel over vehicle speed control instructions input from the mechanical operation unit and causes the autonomous vehicle to decelerate.
 4. The autonomous vehicle speed control device according to claim 1, wherein the mechanical operation unit can be stored a storage compartment covered with a lid.
 5. The autonomous vehicle speed control device according to claim 1, wherein in the automatic driving mode, the vehicle speed control unit invalidates the vehicle speed control instruction from the mechanical operation unit.
 6. The autonomous vehicle speed control device according to claim 1, wherein a foot-operated pedal for inputting a vehicle speed control instruction to the autonomous vehicle is not provided. 